CN106965853B - Motor-driven power steering control device and method - Google Patents
Motor-driven power steering control device and method Download PDFInfo
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- CN106965853B CN106965853B CN201710032585.9A CN201710032585A CN106965853B CN 106965853 B CN106965853 B CN 106965853B CN 201710032585 A CN201710032585 A CN 201710032585A CN 106965853 B CN106965853 B CN 106965853B
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 230000005611 electricity Effects 0.000 claims description 7
- 230000008859 change Effects 0.000 description 16
- 238000010586 diagram Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
- 241000208340 Araliaceae Species 0.000 description 4
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 4
- 235000003140 Panax quinquefolius Nutrition 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 235000008434 ginseng Nutrition 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000002474 experimental method Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012546 transfer Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
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- 239000013589 supplement Substances 0.000 description 2
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- 230000000996 additive effect Effects 0.000 description 1
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- 239000007787 solid Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
- B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers
- B62D1/286—Systems for interrupting non-mechanical steering due to driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/007—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits adjustable by the driver, e.g. sport mode
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
- G05D1/0061—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements for transition from automatic pilot to manual pilot and vice versa
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- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Power Steering Mechanism (AREA)
- Electromagnetism (AREA)
- Mathematical Physics (AREA)
Abstract
The present invention relates to a kind of electric power-assisted steering control method and devices.A kind of particularly method for adjusting Motor torque according to the steering torque of driver when inputting the steering torque of driver using only Motor torque to adjust Vehicular turn.Described device includes: auto-steering mode controlling unit, for receiving auto-steering torque information or control generates a steering motor torque when auto-steering angle information, wherein the steering motor torque is corresponding to the auto-steering torque information or auto-steering angle information that travel vehicle with auto-steering mode；Auto-steering mode release judging unit releases auto-steering mode for judging whether when detecting the steering torque information according to caused by the steering wheel operation of driver or turning to angle information；Auto-steering mode release unit, for determining releasing time of the steering motor torque applied to auto-steering mode by using angle information is turned to, the steerings angle information be when determining releasing auto-steering mode according to caused by the steering wheel operation of driver.
Description
Technical field
The present invention relates to a kind of electric power-assisted steering control method and devices.Especially particularly, the present invention relates to one kind to exist
Steering in the case where adjusting Vehicular turn using only Motor torque when inputting the steering torque of driver according to driver
Torque is come the method that adjusts Motor torque.
Background technique
In general, the transfer of vehicle is the direction of travel for enabling a driver to change vehicle according to its wish, and
And by any rotation center for changing pivoted wheels on vehicle to assist driver along desired orientation driving vehicle.
Current power-assisted transfer assisted diversion power in the following manner: when the vehicle runs at a high speed, steering wheel
Operation it is heavier, when low vehicle speeds, the operation of steering wheel is lighter.Power-assisted transfer different types of like this
It is obtainable, and is widely used by using the electric power steering apparatus of motor assist steering force.Electric boosted turn
The size of assist steering force is determined by controlling for being supplied to the electric current of a steering motor to device.
Meanwhile the research minimized to the automatic Pilot technology of driver's intervention is actively developed.For example,
The cruise control system for minimizing the intervention that driver controls speed is had studied, and has developed and has passed through
Minimizing driver makes the technology of vehicle auto-steering to the intervention of steering.In addition, for automatic driving vehicle
Research or the automatic Pilot technology for excluding all interventions of driver are also in progress.
However, even if minimizing intervention of the driver to speed or steering, still, due to emergency or friendship
The responses of restrictions and intervene, therefore, it is necessary to keep the movement of vehicle to be controlled by the intervention of driver.At this
In the case of kind, control technology needs to prevent the heterogeneity or ambiguity of the vehicle movement when driver's intervention occurs.
Summary of the invention
Technology based on the above background, one embodiment of the invention provide a kind of method and apparatus, are used for when one with automatic
When generating the steering torque of driver in the vehicle of steering pattern traveling, torque suddenly change is prevented.
In addition, one embodiment of the invention provides a kind of method and apparatus, for when one with auto-steering mode traveling
When generating the steering torque of driver in vehicle, the movement of vehicle is in case of emergency steadily controlled, while minimizing because turning round
Square suddenly change and the heterogeneity generated.
The embodiment designed in order to solve the above problem provides a kind of motor-driven power steering control device, described device packet
Include: an auto-steering mode controlling unit is configured as receiving auto-steering torque information or auto-steering angle information
When control generate a steering motor torque, wherein the steering motor torque with travel vehicle with auto-steering mode oneself
Turn is corresponding to torque information or auto-steering angle information；One auto-steering mode release judging unit, is configured as working as
When detecting the steering torque information according to caused by the steering wheel operation of driver or turning to angle information, judge whether to release certainly
Dynamic steering pattern；And an auto-steering mode release unit, it is configured as determining application by using angle information is turned to
In the releasing time of the steering motor torque of auto-steering mode, wherein the steering angle information is when judgement is released from turn
When to mode according to caused by the steering wheel operation of driver.
In addition, one embodiment of the invention provides a kind of electric power-assisted steering control method, which comprises control one
Auto-steering mode is used to control one steering electricity of generation when receiving auto-steering torque information or auto-steering angle information
Machine torque, wherein the steering motor torque and the auto-steering torque information for travel vehicle with auto-steering mode or oneself
Turn is corresponding to angle information；The releasing for judging an auto-steering mode is used to work as the steering wheel detected according to driver
When steering torque information caused by operating or steering angle information, judge whether to release auto-steering mode；And release one certainly
Dynamic steering pattern is used to determine the solution of the steering motor torque applied to auto-steering mode by using angle information is turned to
Except the time, wherein the angle information that turns to is the steering wheel operation institute when determining to release auto-steering mode according to driver
It generates.
The technical effect that the above embodiment of the present invention provides are as follows: driven when being generated in the vehicle that one is travelled with auto-steering mode
When the steering torque for the person of sailing, torque suddenly change is prevented.
In addition, the technical effect that one embodiment of the invention provides are as follows: when one in the vehicle of auto-steering mode traveling
When generating the steering torque of driver, the movement of vehicle is in case of emergency steadily controlled, while being minimized because turning round
Heterogeneity caused by square suddenly change.
Detailed description of the invention
The purpose of above and other of the invention, characteristic are better understood in conjunction with reference to drawings and detailed description below
And advantage, in which:
Fig. 1 is the configuration block diagram for showing electric power steering apparatus according to an embodiment of the invention；
Fig. 2 is the schematic diagram for illustrating auto-steering mode according to an embodiment of the invention；
Fig. 3 is to show according to an embodiment of the invention be used for according to steering torque to determine whether releasing auto-steering mould
The exemplary flow chart of the one of the operation of formula；
Fig. 4 is to show according to an embodiment of the invention be used for according to steering torque to determine whether releasing auto-steering mould
Another exemplary flow chart of the operation of formula；
Fig. 5 is to show according to an embodiment of the invention be used for according to steering angle to determine whether releasing auto-steering mode
Operation an exemplary flow chart；
Fig. 6 is to show according to an embodiment of the invention be used for according to steering angle to determine whether releasing auto-steering mode
Operation another exemplary flow chart；
Fig. 7 is to be exemplarily illustrated each releasing time according to an embodiment of the invention relative to steering motor torque
The Motor torque of (release time) changes schematic diagram；And
Fig. 8 is the flow chart for showing electric power-assisted steering control method according to another embodiment of the present invention.
Specific embodiment
Attached drawing is referred to hereinafter, combining, the embodiment of the present invention will be described in detail.It, can be with when describing component of the invention
Use term, such as the similar word such as first, second, A, B, (a), (b).These terms are merely to by a structural elements and other
Structural elements distinguishes, and attribute, order, the sequence etc. of a corresponding construction component should not be so limited to the term.It should refer to
Out, when describing a component in the description with another component " connection " " coupling " " engagement ", although first structure of explanation
Part can be directly with second component " connection " " coupling " " engagement ", and a third component may also be in first component and
Between two components " connection " " coupling " " engagement ".
The present invention relates to a kind of motor-driven power steering control device and methods.
Motor-driven power steering control device refers to one for controlling the device of a motor operation, wherein the motor is for producing
The steering torque of raw vehicle.In addition, the auto-steering mode in this specification is expressed as a vehicle in the steering of not driver
Automatically the mode that steering is executed in the case where control, such as angle covering function.For example, auto-steering mode is expressed as a vehicle
By using including camera, radar etc. and may be included in the various sensors in vehicle and data sending or receiving the device institute
The information received executes the mode turned to automatically determine driving direction in turn.
However, even if when vehicle is in auto-steering mode downward driving, it is also possible to there is unexpected emergency, and
In this case, driver can execute steering operation.Therefore, the present invention is directed to propose it is a kind of for when vehicle is from turn
The method and apparatus of the movement of vehicle are controlled when to mode downward driving according to the steering operation of driver.Particularly, it hereafter wants
The embodiment of description propose it is a kind of for improving the reactive method and apparatus of vehicle movement, to quickly cope with urgent
Situation, while unexpected change in torque is prevented, wherein unexpected change in torque may occur so that the steering operation of driver is anti-
Reflect the movement of vehicle.
Hereinafter, the embodiment of the present invention is described in detail with reference to the accompanying drawings.
Fig. 1 is the configuration block diagram for showing electric power steering apparatus according to an embodiment of the invention.
Motor-driven power steering control device according to an embodiment of the invention may include: an auto-steering scheme control list
Member is configured as the control when receiving auto-steering torque information or auto-steering angle information and generates steering motor torsion
Square, wherein the steering motor torque and the auto-steering torque information for travelling vehicle with auto-steering mode or from turn
It is corresponding to angle information；One auto-steering mode release judging unit is configured as working as the direction detected according to driver
When disk operates generated steering torque information or turns to angle information, judge whether to release auto-steering mode；And one is automatic
Steering pattern lifting unit is configured as determining the steering electricity applied to auto-steering mode by using angle information is turned to
The releasing time of machine torque, wherein the steering angle information is when determining to release the auto-steering mode according to driver
Steering wheel operation caused by.
Referring to Fig. 1, motor-driven power steering control device 100 may include: an auto-steering mode controlling unit 110, institute
Auto-steering mode controlling unit 110 is stated to be configured as receiving auto-steering torque information or auto-steering angle information time control
System generates a steering motor torque, wherein the steering motor torque with make vehicle with auto-steering mode travel from turn
It is corresponding to torque information or auto-steering angle information.When opening auto-steering mode, the auto-steering scheme control list
Member 110 can control the steering of vehicle by using auto-steering torque information or auto-steering angle information.Auto-steering is turned round
Square information indicates that vehicle executes the torque information needed for turning to automatically.For example, by being mentioned from image information acquired in camera
Lane information is taken to obtain auto-steering torque information, and the auto-steering torque information may include vehicle in lane
Steering torque information needed for traveling.That is, steering torque information includes for determining that the steering of vehicle heading is turned round
The information of square.Auto-steering angle information includes the information for the driving direction of vehicle automatic running.That is, if above-mentioned
Auto-steering torque information includes to close the information of vehicle heading comprising torque value, then auto-steering angle information packet
Include the information in relation to vehicle heading comprising the movement angle value of vehicle.
Therefore, the auto-steering mode controlling unit 110 can receive corresponding auto-steering torque information or
Control generates a steering motor torque when auto-steering angle information, wherein the steering motor torque and vehicle automatic running
The associated auto-steering torque information of driving direction or auto-steering angle information are corresponding.For example, when receiving auto-steering
When angle information, the auto-steering mode controlling unit 110 can execute following control: calculate vehicle by using steering motor
With steering motor torque needed for corresponding angle traveling, and calculate the motor for generating steering motor torque calculated
Electric current is controlled, the motor control electric current is applied to a motor.Similarly, when receiving auto-steering torque information,
The auto-steering mode controlling unit 110 can calculate motor control electric current, and the motor control electric current is applied to institute
Motor is stated, so that corresponding steering torque value is applied to the steering motor.
Meanwhile auto-steering mode can be configured according to the input signal of driver.In addition, auto-steering mode can be with
It is configured or is released from before or during vehicle driving, and when releasing auto-steering mode, steering motor can basis
The steering torque of driver is to provide steering assistance power, so that it is determined that the driving direction of vehicle.It, can be in auto-steering mode
The driving direction of vehicle is determined using only the steering motor torque provided by the steering motor.
In addition, the motor-driven power steering control device 100 can also include: an auto-steering mode release judging unit
120, the auto-steering mode release judging unit 120 is configured as to detect and be produced according to the steering wheel operation of driver
When raw steering torque information or steering angle information, judge whether to release auto-steering mode.The auto-steering mode release
Judging unit 120 can detect whether driver has the intention for executing and turning to according to the steering wheel operation of driver.For example,
The auto-steering mode release judging unit 120 can be by using when driver operates steering wheel with auto-steering mode
Generated steering torque information turns to angle information to judge whether driver has the intention for executing and turning to, and by making
With the determination to driver intention to determine whether releasing auto-steering mode.For example, the auto-steering mode release judgement
Unit 120 can by using steering torque information caused by the steering wheel operation according to driver or Duration Information come
Judge whether to release auto-steering mode.As another example, the auto-steering mode release judging unit 120 can pass through
Using steering angle information or Duration Information caused by the steering wheel operation according to driver to determine whether releasing automatic
Steering pattern.In addition, in order to solve to rock because of vehicle or driver's mistake carries out steering wheel operation due to may occur from turn
To mode release mistake, therefore, it is necessary to be distinguished according to scheduled reference.This hair is described below with reference to reference Fig. 3 to Fig. 6
Bright specific embodiment.
Meanwhile the electric powered steering control device 100 can also include: an auto-steering mode release unit 130, it is described
Auto-steering mode release unit 130 is configured as determining by using angle information is turned to be turned applied to auto-steering mode
To the releasing time of Motor torque, wherein the steering angle information is when determining to release auto-steering mode according to driver
Steering wheel operation caused by.When determining to release auto-steering mode, the auto-steering mode release unit 130 can be with
The releasing time of steering motor torque is determined, wherein the steering motor torque responsive is in (in response to) according to driving
Angle information is turned to caused by the steering wheel operation of member.For example, vehicle is turned round by steering motor in auto-steering mode
Square executes steering.In this case, the auto-steering mode release unit 130, which needs to release, is making releasing from turn
The steering motor torque on time point determined to mode, and the auto-steering mode release unit 130 is according to driver
Steering torque change steering motor torque.However, when releasing auto-steering mode, existing risk are as follows: turning to electricity
In the case that machine torque directly becomes 0, the steering control effort for being applied to vehicle is lost.This risk in order to prevent, it is described automatic
Steering pattern lifting unit 130 needs to make the steering motor torque applied in auto-steering mode oblique during the scheduled time
Drop, so that sequentially (sequentially) reduces the steering motor torque when determining to release the auto-steering mode.
In the present specification, it is by the timing definition that the steering motor torque applied in auto-steering mode is sequentially reduced to 0
The time is released, and uses it.
Meanwhile when driving direction of the driver according to emergency sudden change current vehicle, in auto-steering mode
Under be applied to steering motor steering motor torque and according to driver operation torque between biggish difference may occur.This
Outside, in case of emergency, it is necessary to rapidly by the steering operation reflection of driver to vehicle.That is, in order to release
The time point of auto-steering mode applies the steering motor torque for reflecting the steering torque of driver, needs the unexpected of torque
Variation.However, the suddenly change of torque may cause the heterogeneity (heterogeneity) of the steering wheel operation of driver,
And interfere the stability of vehicle movement.
Therefore, when determining to release auto-steering mode, the auto-steering mode release unit 130 need by using
The steering wheel operation that driver is distinguished according to the information of the steering wheel operation of driver is in order to avoid emergency or category
In normal release operation, so that dynamically configuration is applied to the releasing time (releasetime) of the steering motor torque of vehicle.
For this purpose, the auto-steering mode release unit 130 by using the steering angle information according to the steering wheel operation of driver come
It dynamically calculates and releases the time.Turning to angle information can be detected by steering angle sensor, and the auto-steering mode release
Unit 130 can be believed by using steering angular velocity information, the weighted value factor and predetermined at least one of the temporal information that releases
Breath is dynamically to calculate the releasing time for being suitable for each case.It recombines with reference to Fig. 7, description one is used for dynamic configuration solution
Except the specific embodiment of time.The scheduled weighted value of weighted value factor representation one, and it is unrestricted.
Fig. 2 is the schematic diagram for illustrating auto-steering mode according to an embodiment of the invention.
As shown in Fig. 2, vehicle 200 can be used by camera sensor received image information extract on road
Lane information.For from image information extract lane information method there is no limit.As another example, vehicle 200 can be with
The current location information of information and vehicle 200 is inputted using the destination of driver to configure the travel route of vehicle, and also
Auto-steering mode can be configured so that vehicle 200 along travel route travel and without departing from.For this purpose, auto-steering mode can be with
The driving direction 210 of vehicle is determined by using the travel route and road information of vehicle 200 so that vehicle 200 without departing from
Travel route and lane.As another example, when auto-steering mode is configured as following front vehicles, vehicle 200 can be with
Driving direction 210 is configured by controlling the steering motor of vehicle, is detected so that vehicle 200 is followed by a radar sensor
The front vehicles arrived.
Therefore, auto-steering mode is vehicle 200 by using being formed in transmitted by the sensor of interior or exterior of the vehicle
Or received data carry out the mode that automatic configuration line sails direction 210.Auto-steering mode can be according to the characteristic and construction of vehicle
And it is named differently.In the present specification, auto-steering mode indicates to carry out configuration line by using the steering motor in vehicle
It sails direction and is not necessarily to the mode of driver's intervention.
Fig. 3 is to show according to an embodiment of the invention be used for according to steering torque to determine whether releasing auto-steering mould
The exemplary flow chart of the one of the operation of formula.
When steering torque value is greater than or equal to predetermined reference torque, the auto-steering mode release judging unit 120
It can determine and release auto-steering mode.
As shown in figure 3, can detecte and grasped according to the steering wheel of driver when vehicle is in auto-steering mode downward driving
Steering torque caused by making.However, vibration etc., Ke Yijing according to caused by the mistake of driver, interior or exterior of the vehicle
Carefully (minutely) detects steering torque.Even in this case, there are the following problems: when releasing auto-steering mould
When formula, since the accident of auto-steering mode releases, driver possibly can not suitably control the movement of vehicle.Therefore, even if
When detecting the steering torque information in relation to driver, the auto-steering mode release judging unit 120 can not also be stood
It determines and releases auto-steering mode, and the steering torque value that will test is compared with predetermined reference torque, be with judgement
No releasing auto-steering mode.It is thus possible to improve the riding stability of vehicle.
Specifically, the auto-steering mode release judging unit 120 can receive by torque sensor according to driver
Steering wheel operation detected by steering torque value (step S300).Steering torque value is and is used in above-mentioned auto-steering mould
The different value of the auto-steering torque information of steering motor torque is determined in formula, and the auto-steering torque information refers to vehicle
The image based on vehicle traveling direction and required torque value is travelled in lane.On the other hand, steering torque value refers to base
In driver steering wheel operation and according to turn round torsion of bar torque information detected.Therefore, detected steering torque
The position of value and the position of auto-steering torque information are different from each other, and can be configured differently Information sign and information lattice
Formula.Steering torque value can be by including the detection such as torque sensor, torque angle transducer in the car.
The auto-steering mode release judging unit 120 is by the steering torque value received and passes through the predetermined ginsengs such as experiment
It examines torque and is compared (step S310).For example, the auto-steering mode release judging unit 120 may determine that it is detected
Whether steering torque value is equal to or more than predetermined reference torque.
If being greater than reference torque by the steering torque value that driver generates, the auto-steering mode release judgement is single
Member 120, which can determine, releases auto-steering mode (step S320).This is because can determine driver according to release from
The intention of steering pattern is moved to operate steering wheel, rather than mistakenly executes steering wheel operation.
Alternatively, the auto-steering mode release is sentenced when the steering torque value generated by driver is less than reference torque
Disconnected unit 120, which can determine, keeps auto-steering mode (step S330).That is, following facts can be used to improve vehicle
Riding stability: shaken when driver mistakenly operates steering wheel or as caused by interior or exterior of the vehicle and
When torsion bar being made to twist, detected steering torque value is smaller.
However, driver mistakenly may operate steering wheel with larger angle, and in this case, by temporary detecting
To steering torque value be likely larger than reference torque.Therefore, it is also desirable to consider the method for preventing such case.
Fig. 4 is to show according to an embodiment of the invention be used for according to steering torque to determine whether releasing auto-steering mould
Another exemplary flow chart of the operation of formula.
When be equal to or more than predetermined reference torque steering torque value be kept the predetermined reference time or it is longer when, it is described from
Turn can be determined to mode release judging unit 120 releases auto-steering mode.
As shown in figure 4, the riding stability of vehicle can be improved, and even if temporarily produced due to mistake of driver etc.
When raw biggish steering torque value, it is also possible to prevent auto-steering mode and is unexpectedly released.
Specifically, the auto-steering mode release judging unit 120 can receive the steering wheel operation according to driver
And the steering torque value (step S400) being detected.As set forth above, it is possible to according to the various situations for not considering driver intention
Steering torque value is generated, and needs to distinguish steering torque value.
For this purpose, the auto-steering mode release judging unit 120 first determines whether steering torque value is equal to or more than
Reference torque (step S410).If detected steering torque value is less than reference torque, the auto-steering mode release
Judging unit 120, which can determine, keeps auto-steering mode (step S440).Accordingly it is possible to prevent auto-steering mode is by accident
It releases.
Alternatively, the auto-steering mode release is sentenced when detected steering torque value is equal to or more than reference torque
When disconnected unit 120 may determine that whether the steering torque value for being detected as being equal to or more than reference torque continuously is kept referring to
Between or it is longer (step S420).That is, the auto-steering mode release judging unit 120 may determine that and be detected as
It is more than the time that whether predetermined reference is kept in or greater than the steering torque value of reference torque, to judge whether freeing vehicle
Auto-steering mode.For example, when steering torque value cannot be kept the reference time or it is longer when, the auto-steering mode release
Judging unit 120, which can determine, keeps auto-steering mode (step S440).It therefore, can be by ignoring facing according to driver
When mistake caused by steering torque value ensure the riding stability of vehicle.As another example, when steering torque value is protected
Hold the reference time or it is longer when, the auto-steering mode release judging unit 120 can determine release auto-steering mode (step
Rapid S430).In such a case, it is possible to determine the intention that there is driver operation to turn to, so that auto-steering mode is released, and
And the intention of steering can be operated according to driver to control the movement of vehicle.
In figs. 3 and 4, it has been described that the implementation for releasing auto-steering mode is determined by using steering torque value
Example.However, it is also possible to release auto-steering mould by using determining according to the steering angle information of the steering wheel operation of driver
Formula.Hereinafter, the case where being described by example using angle information is turned to.
Fig. 5 is to show according to an embodiment of the invention be used for according to steering angle to determine whether releasing auto-steering mode
Operation an exemplary flow chart.
When turning to angle information equal to or more than predetermined reference angle, the auto-steering mode release judging unit 120
It can determine and release auto-steering mode.
Referring to Fig. 5, the auto-steering mode release judging unit 120 can receive the steering wheel operation according to driver
Generated steering angle information (step S500).Turning to angle information can be detected by steering angle sensor, torque angle transducer etc..
The auto-steering mode release judging unit 120 may determine that received steering angle information whether be equal to or
Greater than predetermined reference angle (step S510).That is, the auto-steering mode release judging unit 120 may determine that root
Whether steering angle caused by the steering wheel operation according to driver is equal to or more than with reference to angle, to judge whether to release automatic
Steering pattern.
For example, the auto-steering mode release judging unit 120 can be true when turning to angle information less than with reference to angle
Surely auto-steering mode (step S530) is kept.Since the steering wheel movement according to caused by vehicle vibration etc. will not be with big angle
Degree and generate, therefore can judge whether to generate steering angle information according to the intention of driver indirectly by it.
As another example, when turning to angle information equal to or more than with reference to angle, the auto-steering mode release is sentenced
Disconnected unit 120, which can determine, releases auto-steering mode (step S520).The auto-steering mode release judging unit 120 can
To determine, in case of emergency driver has the intention for changing vehicle heading with wide-angle, to release auto-steering mould
Formula.
However, since driver may be due to mistake with wide-angle temporary operation steering wheel, it is therefore necessary to consider to turn to
Additive factor in angle information.
Fig. 6 is to show according to an embodiment of the invention be used for according to steering angle to determine whether releasing auto-steering mode
Operation another exemplary flow chart.
When be equal to or more than predetermined reference angle steering angle information be kept the predetermined reference time or it is longer when, it is described from
Turn can be determined to mode release judging unit 120 releases auto-steering mode.
Referring to Fig. 6, the auto-steering mode release judging unit 120 can receive the steering wheel operation according to driver
Generated steering angle information (step S600), and judge whether received steering angle information is equal to or more than predetermined ginseng
Examine angle (step S610).
As described above, the auto-steering mode release judging unit 120 can when turning to angle information less than with reference to angle
Auto-steering mode (step S640) is kept to determine.Therefore, it can mainly prevent from being moved according to minimum (minute) of steering wheel
It moves and releases auto-steering mode.
When turning to angle information equal to or more than with reference to angle, the auto-steering mode release judging unit 120 is secondly
(secondarily) judge to turn to whether angle information is continuously kept the reference time or longer (step S620).That is,
The auto-steering mode release judging unit 120 can distinguish (distinguish) with the steering wheel operation of wide-angle be by
The mistake of driver and the transient phenomenon that occurs according further to driver intention and the continuous phenomenon that occurs.For example, when turning to
Angle cannot be kept the reference time or it is longer when, the auto-steering mode release judging unit 120 can determine that holding is automatic
Steering pattern (step S640).It therefore, can be by ignoring the steering angle information according to caused by the temporary error of driver
Receive the riding stability to ensure vehicle.As another example, when turn to angle information be kept the reference time or it is longer when, institute
Releasing auto-steering mode (step S630) can be determined by stating auto-steering mode release judging unit 120.In this case,
It can determine the intention that there is driver operation to turn to, to release auto-steering mode, and can be operated according to driver
Steering is intended to control the movement of vehicle.
As described above, the auto-steering mode release judging unit 120 can use steering torque information or steering
While angle information and various determined reference informations, according to the steering wheel operation of driver to determine whether releasing auto-steering mould
Formula, so that it is guaranteed that the stability of vehicle.
Meanwhile the auto-steering mode release judging unit 120 can be by using steering torque information and steering angle
Both information is to determine whether release auto-steering mode.
For example, the auto-steering mode release judging unit 120 only can be equal to or more than ginseng in steering torque information
It examines torque and turns to angle information and be equal to or more than in the case where meeting with reference to angle both of which, determine and release from turn
To mode.Alternatively, the auto-steering mode release judging unit 120 can only exist in steering torque information and steering angle information
In one predetermined reference time or longer time when sustainable growth, it is determined as releasing auto-steering mode.For example, turning as driver
When increasing then reduction within the reference time to torque information or steering angle information, the auto-steering mode release judging unit
120 can determine that driver had made mistakes, to keep auto-steering mode.
Furthermore, it is possible to combine and operate for by using steering torque information and turn to angle information to determine whether release
Each embodiment of auto-steering mode.
Meanwhile it above-mentioned reference torque, can combine with reference at least two in angle and reference time, and with table shape
Formula is stored.For example, multiple reference torques and multiple reference times can be mapped one to one, to be stored as having
The reference table of multiple ranks.The auto-steering mode release judging unit 120 can by using storage table to determine whether
Release the auto-steering mode.Alternatively, multiple can be mapped one to one with reference to angle and multiple reference times, thus
It is stored as the reference table with multiple ranks.
For example, storage table can have four ranks, and when each rank can have one group of reference torque and reference
Between be worth.Similarly, it also can have one group with reference to angle and reference time value including each rank in storage table.
As another example, storage table can store with multiple set, each set has one group of reference torque, ginseng
Examine angle and reference time.
In this case, the auto-steering mode release judging unit 120, which can be used, is stored in storage table
For judging whether to release the reference torque of above-mentioned auto-steering mode, with reference to angle or reference time.That is, four grades
Not each of have value different from each other, and the auto-steering mode release judging unit 120 can be used including
Reference torque, reference time or reference angle in specific rank is as reference value, for wanting when according to predetermined configurations instruction
Judge whether to release above-mentioned auto-steering mode when the respective specific rank used.
It, can be with grade meanwhile when each rank of storage table includes reference torque and reference time as factor
It is other increase and increase reference torque value and reduce reference time value.That is, reference torque and reference time can be matched
It is set to and is inversely proportional to one another.It similarly, can when each rank of storage table includes as the reference angle of factor and reference time
Increased with the increase with rank with reference to angle value and reduces reference time value.That is, with reference to angle and reference time
It can be configured as and be inversely proportional to one another.Of course, it is possible to by configuring increase and reduction come modification level, and can execute and match
It sets, allows to reduce with rank and increase reference torque value or reference angle value and reduce reference time value.
The auto-steering mode release judging unit 120 can be made by the above method using being included in a rank
For reference value factor to determine whether release auto-steering mode, wherein the rank is the institute configured in storage table
There is the rank for being made a reservation for or being configured by the operation of driver in rank.
As described in each example, the auto-steering mode release unit 130 can be according to auto-steering mode
The determination of releasing and discharge steering motor torque caused by auto-steering mode, wherein the determination of auto-steering mode release
It is to be completed by auto-steering mode release judging unit 120.
When determining to release auto-steering mode, the auto-steering mode release unit 130 can be by using basis
Angle information is turned to caused by the steering wheel operation of driver to determine that the steering motor applied in auto-steering mode is turned round
The releasing time of square.Turning to angle information can be detected according to the steering wheel operation of driver by steering angle sensor, and i.e.
Make when determining to release auto-steering mode based on steering torque information as described above, turning to angle information can also be by turning to
Angle transducer detection.
Specifically, the auto-steering mode release unit 130 can calculate steering angle by using angle information is turned to
Velocity information, and determined by using the steering angular velocity information and release the time.For example, when receiving the steering angle
When information, the auto-steering mode release unit 130 can calculate the steering changed over time for indicating steering angle information
Angular velocity information.The auto-steering mode release unit 130 can be by using steering angular velocity information calculated and pre-
The dereference time is determined to determine the releasing time of steering motor torque.
For example, the auto-steering mode release unit 130 can by by the dereference time multiplied by the weighted value factor
The time is released to determine, wherein determining the weighted value factor according to steering angular velocity information.In this case, weighted value
The factor can be the value greater than 0 and equal to or less than 1.The dereference time refers to through the predetermined steering electricity of the institute such as experiment
The releasing time of machine torque.The weighted value factor can be predefined, to respond each steering angular velocity information.For example, weighted value
The factor can be previously stored with form corresponding with each steering angle information, and the weighted value factor can pass through
It is determined for determining the predetermined mathematical expression formula of the weighted value factor.Specifically, described when calculating steering angular velocity information
Auto-steering mode release unit 130 is extracted corresponding with steering angular velocity information by using predefined weight value factor table
The weighted value factor.Later, the auto-steering mode release unit 130 can be by releasing the time multiplied by being mentioned for predetermined reference
The weighted value factor taken determines releasing time of steering motor torque.The weighted value factor can be configured as with steering angle speed
Angle value becomes larger and the value that becomes smaller.That is, the auto-steering mode release unit 130 can be by by the dereference time
It is inversely proportional to one another multiplied by the value for becoming larger and becoming smaller with steering angular velocity value to determine steering angular velocity value with the time is released.Together
When, the table for the weighted value factor can be configured as corresponding to the steering angular velocity information in predetermined interval.For example, predetermined turn
It can have a table to angular speed section, the table is configured as mapping to a weighted value factor, another steering angular velocity section
It can have a table, the table is configured as mapping to another weighted value factor.Therefore, it can determine step by step and release the time.
For another example, the auto-steering mode release unit 130, which can determine, releases time and steering angular velocity
Information is inversely proportional.For example, the auto-steering mode release unit 130 can when steering angular velocity information is in predetermined interval
To configure the releasing time in respective bins to the value being inversely proportional with steering angular velocity information.
As another example, the auto-steering mode release unit 130 can be equal to or small in steering angular velocity information
When predetermined first reference value, will release the time be determined as predetermined upper limit value, and can be equal in steering angular velocity information or
When greater than predetermined second reference value, the releasing time it will be determined as predetermined lower bound value.That is, releasing time upper limit value or releasing
Minimum time value can be scheduled.In addition, releasing time upper limit value and releasing minimum time value is the machinery to steering motor
Time needed for for characteristic, and time needed for preventing torque suddenly change, and when releasing time upper limit value and releasing
Between lower limit value be can by experiment etc. it is determined.Therefore, when determining that steering angular velocity information is equal to or less than predetermined the
When one reference value, the auto-steering mode release unit 130 can will be determined as the fixed releasing time releasing time, this is solid
Surely releasing the time is predetermined upper limit value.On the contrary, when determining that steering angular velocity information is equal to or more than predetermined second reference value, institute
State auto-steering mode release unit 130 can will release the time be determined as one it is fixed release the time, which releases the time and is
Predetermined lower bound value.First reference value and the second reference value can be identical or different.
When steering angular velocity information is calculated as the value between the first reference value and the second reference value, the auto-steering
Mode release unit 130 can be used the releasing time upper limit value as the dereference time or release minimum time value, thus
The time is released by determining the above-mentioned weighted value factor multiplied by the dereference time.Alternatively, when steering angular velocity information is counted
When calculating the value between the first reference value and the second reference value, the auto-steering mode release unit 130 can be used described
Upper limit or lower limit is as the dereference time, so that it is determined that the releasing time of a constant rate of change.
Fig. 7 is to be exemplarily illustrated each releasing time according to an embodiment of the invention relative to steering motor torque
Motor torque variation schematic diagram.
Referring to Fig. 7, the description of steering motor change in torque is provided, in this case, the auto-steering mode solution
The time is released except unit 130 is determined by using steering angular velocity information as described above.In fig. 7, it is assumed that according to certainly
The steering motor torque value of dynamic steering pattern is 2Nm.In addition, until being become according to the steering motor torque value of auto-steering mode
Time needed for until 0Nm is to release the time, and time point for judging of auto-steering mode release is 0ms.
The case where label 710 are as follows: steering angular velocity information is 200deg/s, and releases the time and can be determined that
30ms.When the releasing time has been determined, in order to make steering motor torque value 0Nm according to the time is released, can quickly reduce
Steering motor torque.
The case where label 720 are as follows: steering angular velocity information is 100deg/s, and releases the time and can be determined that
75ms.In addition, the case where label 730 are as follows: steering angular velocity information is 30deg/s, and releases the time and can be determined that
150ms。
Therefore, the auto-steering mode release unit 130 can determine that release the time is inversely proportional with steering angular velocity value,
Reduce so that releasing the time when steering angular velocity value increases.Alternatively, the auto-steering mode release unit 130 can pass through
It is determined as 150ms to release time upper limit value and 30ms is determined as releasing minimum time value come the case where determine label 720
Release the time.In this case, the first above-mentioned reference value can be 30deg/s, and the second reference value can be
200deg/s.Therefore, even if the auto-steering mode release unit 130 can also when steering angular velocity information is 20deg/s
It is determined as 150ms so that the time will be released, and even if when steering angular velocity information is 250deg/s, the auto-steering mode
Lifting unit 130 can also will be determined as 30ms the releasing time.
As described above, the motor-driven power steering control device 100 can be using the various steering wheels with according to driver
Operation configures in such a way that the auto-steering mode released is related releases the time, in this way, urgent feelings can dealt adequately with
The suddenly change of torque is prevented while condition.
In conjunction with reference Fig. 8, electric power-assisted steering control method there will be briefly described, above-mentioned institute can be executed by this method
Some embodiments.
Fig. 8 is the flow chart for showing electric power-assisted steering control method according to another embodiment of the present invention.
According to an embodiment of the invention, electric power-assisted steering control method may include: one auto-steering mode of control,
For the one steering motor torque of control generation when receiving auto-steering torque information or auto-steering angle information, wherein institute
The auto-steering torque information or auto-steering angle information phase stated steering motor torque and travel vehicle with auto-steering mode
It is corresponding；The releasing for judging an auto-steering mode, be used for when detect according to caused by the steering wheel operation of driver turn
When to torque information or turning to angle information, judge whether to release auto-steering mode；And an auto-steering mode is released, it uses
In the releasing time for determining the steering motor torque applied to auto-steering mode by using steering angle information, wherein institute
State turn to angle information be when determine release the auto-steering mode when according to caused by the steering wheel operation of driver.
Referring to Fig. 8, electric power-assisted steering control method may include: one auto-steering mode of control, be used to receive
Control generates a steering motor torque when to auto-steering torque information or auto-steering angle information, wherein the steering motor
Torque (step corresponding with the auto-steering torque information or auto-steering angle information that travel vehicle with auto-steering mode
S800).The control auto-steering mode may include: when opening auto-steering mode, by using auto-steering torque
Information or auto-steering angle information control the steering of vehicle.Auto-steering torque information indicates that vehicle is executed automatically needed for steering
Torque information.Auto-steering angle information includes the information for the driving direction of vehicle automatic running.Therefore, described to control certainly
Dynamic steering pattern may include executing control, so that when receiving corresponding information (that is, the driving direction with vehicle automatic running
Auto-steering torque information or auto-steering angle information) when, steering motor torque is generated, and for vehicle automatic running
The auto-steering torque information or auto-steering angle information of driving direction are corresponding.For example, the control auto-steering mode can
To include executing following control: when receiving auto-steering angle information, calculating vehicle by using steering motor with corresponding
Steering motor torque needed for angle traveling, and calculate the motor control electricity for generating steering motor torque calculated
Stream, is applied to a motor for the motor control electric current.Similarly, the control auto-steering mode may include: and work as to connect
When receiving auto-steering torque information, the motor control electric current is calculated, and the motor control electric current is applied to the electricity
Machine, so that corresponding steering torque value is applied to the steering motor.
The electric power-assisted steering control method can also include: the releasing for judging an auto-steering mode, be used to work as
When detecting the steering torque information according to caused by the steering wheel operation of driver or turning to angle information, judge whether to release certainly
Dynamic steering pattern (step S802).The releasing of the judgement auto-steering mode may include the steering wheel operation according to driver
To detect whether driver has the intention for executing and turning to.For example, the releasing of the judgement auto-steering mode may include: logical
It crosses using when driver with steering torque information caused by auto-steering mode operation steering wheel or turns to angle information and judges
Whether driver has the intention for executing and turning to, and by using the determination to driver intention to determine whether releasing automatic
Steering pattern.For example, the releasing of the judgement auto-steering mode may include: to grasp by using according to the steering wheel of driver
Steering torque information caused by making turns to angle information to determine whether releasing auto-steering mode.That is, by making
It is made whether to release the judgement of auto-steering mode with steering torque information or steering angle information and predetermined reference value.As
Another example, the releasing of the judgement auto-steering mode may include by using in addition to steering torque information or steering angle letter
Duration Information except breath is to determine whether release auto-steering mode.
The electric power-assisted steering control method can also include: release an auto-steering mode, be used for by using
Angle information is turned to determine the releasing time of the steering motor torque applied to auto-steering mode, wherein the steering angle letter
Breath is when determining to release the auto-steering mode according to caused by the steering wheel operation of driver (step S804).It is described
Releasing auto-steering mode may include: to determine the releasing time of steering motor torque when determining to release auto-steering mode,
The steering motor torque is associated with steering angle information caused by the steering wheel operation according to driver.For example, when determining
When releasing auto-steering mode, the auto-steering mode that releases includes by using the letter according to the steering wheel operation of driver
The steering wheel operation for ceasing to need to distinguish driver is that normal release operation is still fallen in order to avoid emergency, thus dynamic
Ground configuration is applied to the releasing time of the steering motor torque of vehicle.For this purpose, the releasing auto-steering mode includes by making
The time is released with the steering angle information of the steering wheel operation according to driver dynamically to calculate.
For example, the releasing auto-steering mode may include using the weighted value factor and by using steering angle information institute
The steering angular velocity information of calculating releases the time to dynamically determine.As another example, the releasing auto-steering mode can
To include being determined by using the predetermined upper limit value and predetermined lower bound value of steering angular velocity information and releasing time predetermined
The releasing time in range.As another example, when the releasing auto-steering mode may include by using dereference
Between information come determine release the time so that dereference temporal information is inversely proportional with steering angular velocity information.
Technical effect provided by the invention are as follows: generate the steering of driver in the vehicle of auto-steering mode traveling when one
When torque, torque suddenly change is prevented.In addition, technical effect of the invention are as follows: when the vehicle that one is travelled with auto-steering mode
It is interior generate driver steering torque when, in case of emergency steadily control vehicle movement, while minimize because
Heterogeneity caused by the suddenly change of torque.
Even as described above, all components are combined into individual unit in the embodiment of the present invention, or with list
A unit is operated in combination, and the embodiment of the present invention is not limited only to this.That is, not departing from the scope of the present invention
In the case of, in all structural elements, at least two component property of can choose combine and operation.Although preferred implementation of the invention
Example has been described that purposes, but those skilled in the art is not in the case where departing from the spirit of the scope of the present invention and invention
It will be appreciated that different modifications, supplement and substitution, these modifications, supplement and substitution also should be regarded as protection scope of the present invention.Cause
This, disclosed embodiment is intended to illustrate the range of technical idea of the invention in the present invention, and those embodiments are not
It limits the scope of the invention.The scope of the present invention will be according to appended claims, such as all technical ideas include equivalent
In scope of the presently claimed invention, to explain.
Claims (14)
1. a kind of motor-driven power steering control device characterized by comprising
One auto-steering mode controlling unit, the auto-steering mode controlling unit are configured as receiving auto-steering torque
When information or auto-steering angle information control generate a steering motor torque, wherein the steering motor torque and make vehicle with
The auto-steering torque information or auto-steering angle information of auto-steering mode traveling are corresponding；
One auto-steering mode release judging unit, the auto-steering mode release judging unit, which is configured as working as, detects root
When steering torque information caused by the steering wheel operation according to driver or steering angle information, judge whether to release auto-steering mould
Formula；And
One auto-steering mode release unit, the auto-steering mode release unit are configured as by using steering angle information
To determine the releasing time of the steering motor torque applied to auto-steering mode, wherein the steering angle information is when judgement
When releasing auto-steering mode according to caused by the steering wheel operation of driver.
2. motor-driven power steering control device according to claim 1, which is characterized in that the auto-steering mode release
Judging unit is configured as determining when steering torque value is equal to or more than a predetermined reference torque and releasing the auto-steering mould
Formula.
3. motor-driven power steering control device according to claim 2, which is characterized in that the auto-steering mode release
Judging unit is configured as being kept predetermined time or more when the steering torque value equal to or more than the predetermined reference torque
When long, determine and release auto-steering mode.
4. motor-driven power steering control device according to claim 1, which is characterized in that the auto-steering mode release
Judging unit is configured as determining when steering angle is equal to or more than a predetermined reference angle and releasing auto-steering mode.
5. motor-driven power steering control device according to claim 4, which is characterized in that the auto-steering mode release
Judging unit is configured as being kept the predetermined reference time when the steering angle information equal to or more than the predetermined reference angle
Or when longer, determine and release auto-steering mode.
6. motor-driven power steering control device according to claim 1, which is characterized in that the auto-steering mode release
Unit is configured as when determining to release auto-steering mode, and control reduces institute in auto-steering mode during releasing the time
The steering motor torque of application.
7. motor-driven power steering control device according to claim 1, which is characterized in that the auto-steering mode release
Unit is configured as calculating steering angular velocity information by using angle information is turned to, and by using the steering angular velocity
Information releases the time to determine.
8. motor-driven power steering control device according to claim 7, which is characterized in that the auto-steering mode release
Unit is configured as by the way that the dereference time is determined the releasing time multiplied by a weighted value factor, wherein according to
Steering angular velocity information determines the weighted value factor, and the weighted value factor is greater than 0 and equal to or less than 1
Value.
9. motor-driven power steering control device according to claim 8, which is characterized in that respond the steering angular velocity
Each predetermined interval of information and determine the weighted value factor.
10. motor-driven power steering control device according to claim 7, which is characterized in that the releasing time is configured
To be inversely proportional with the steering angular velocity information.
11. motor-driven power steering control device according to claim 7, which is characterized in that the auto-steering mode solution
Except unit is configured as when the steering angular velocity information is equal to or less than predetermined first reference value, when determining the releasing
Between be a predetermined upper limit value, and when the steering angular velocity information is equal to or more than predetermined second reference value, determine institute
It states and releases the time as a predetermined lower bound value.
12. a kind of electric power-assisted steering control method characterized by comprising
An auto-steering mode is controlled, is generated for being controlled when receiving auto-steering torque information or auto-steering angle information
One steering motor torque, wherein the steering motor torque and the auto-steering torque for travelling vehicle with auto-steering mode
Information or auto-steering angle information are corresponding；
The releasing for judging an auto-steering mode detects that the steering according to caused by the steering wheel operation of driver is turned round for working as
When square information or steering angle information, judge whether to release auto-steering mode；And
An auto-steering mode is released, for determining the steering electricity applied to auto-steering mode by using angle information is turned to
The releasing time of machine torque, wherein the angle information that turns to is the side when determining to release auto-steering mode according to driver
To caused by disk operation.
13. electric power-assisted steering control method according to claim 12, which is characterized in that release auto-steering mode packet
It includes: calculating steering angular velocity information by using angle information is turned to, and come really by using the steering angular velocity information
Surely the time is released.
14. electric power-assisted steering control method according to claim 13, which is characterized in that release auto-steering mode packet
It includes: releasing the time by determining the dereference time multiplied by a weighted value factor, wherein according to steering angular velocity information
Determine the weighted value factor, and the weighted value factor be greater than 0 and be equal to or less than 1 value.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1020160004694A KR20170085633A (en) | 2016-01-14 | 2016-01-14 | Method for controlling Electric Power Steering and Apparatus thereof |
| KR10-2016-0004694 | 2016-01-14 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106965853A CN106965853A (en) | 2017-07-21 |
| CN106965853B true CN106965853B (en) | 2019-05-31 |
Family
ID=59256021
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710032585.9A Active CN106965853B (en) | 2016-01-14 | 2017-01-16 | Motor-driven power steering control device and method |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US10173725B2 (en) |
| KR (1) | KR20170085633A (en) |
| CN (1) | CN106965853B (en) |
| DE (1) | DE102017000195B4 (en) |
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| DE102017000195B4 (en) | 2021-06-17 |
| KR20170085633A (en) | 2017-07-25 |
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